Research On Dynamics And Control Of Horizontal Rehabilitation Robot

With the acceleration of aging year by year in China,as well as the large number of patients with hemiplegia and total paralysis caused by stroke and other diseases,and with the trend of younger,the demand for intelligent rehabilitation equipment will increase.In this paper,a horizontal rehabilitation training robot is designed for the patients with motor disorders such as stroke to solve the problems such as difficult rehabilitation,less training and reduced labor intensity of rehabilitation physicians in the early stage of bed rest.Through the analysis of clinical rehabilitation needs,innovatively integrate rehabilitation training such as hip flexion,knee flexion,horizontal gait and Bridge exercise into one,which can provide various and multi-direction rehabilitation training programs for patients.Due to the diversity of rehabilitation conditions of different patients or the same patient at different stages,passive training mode and active training mode are put forward in the control scheme.The main contents and methods of this paper are as follows:1.The structure design of horizontal rehabilitation robot is carried out by analyzing the rehabilitation action,movement principle and rehabilitation requirements commonly used in clinical practice.Various adjusting mechanisms were designed for different height and body type of patients.By comparing the advantages and disadvantages of various driving and transmission modes as well as the actual design requirements,the driving and transmission modes of the robot are selected.In order to obtain the training of patients and to realize the active control method,the human-machine interaction acquisition module is designed.2.Dynamic model establishment of the system.In order to obtain the motion relationship between each joint of the robot,the kinematics of the robot system is modeled by closed-loop vector method and the dynamic model of the robot is established by Lagrange method.The simulation analysis is carried out by MSC.ADAMS virtual prototype software to verify the correctness of the established dynamic model and kinematics model,and to provide theoretical basis for later control research.3.For the control of passive training mode,a fuzzy PID control algorithm is used to realize the stable tracking of the trajectory.The feasibility and stability of the proposed algorithm are proved by the joint simulation of Simulink and MSC.ADAMS.For the control of active training mode,the human-machine interaction impedance model between the robot and the patient is established,and the control algorithm is simulated and analyzed by combining the impedance control algorithm and the fuzzy PID control algorithm to verify the feasibility and stability of the designed algorithm.4.Set up the experimental prototype of horizontal rehabilitation robot and design the electrical system.Functional test of three rehabilitation actions is carried out through dummy experiment,which verifies the feasibility and reliability of the rehabilitation robot mechanism.Aiming at the active training mode and passive training mode of rehabilitation robot,the experimental test of active and passive control is carried out.The experimental results show that the designed control algorithm is feasible and stable.